version: 66.13
glider: 401
mission: 22
dive: 265
start: 7 31 117 8 55 46
data:
$ID,401
$MISSION,22
$DIVE,265
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,22
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,400
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,310717,084756,5947.0762,-17123.6230,5,1.0,50,8.2,0.5,57.4,7,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-47.2
$GPS2,310717,085439,5947.1094,-17123.5781,5,0.8,16,8.2,0.0,38.5,10,4.8
$SPEED_LIMITS,0.157,0.340
$TGT_NAME,W3N
$TGT_LATLONG,5946.620,-17127.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.313172,-0.131357
$KALMAN_X,34019.218750,-1937.120850,-812.162964,-86253.468750,19.130188
$KALMAN_Y,13006.990234,2006.294678,436.432281,43423.933594,64.628510
$MHEAD_RNG_PITCHd_Wd,239.0,3316,-11.3,-9.091,-14.99,6427
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.61,-390.0,240,1891,2029,4092,0.0,0.0,0,17,7.65,0.00,0.00,0.000,2049,0.112,0.000,866,1891,2030,2030,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.28,49.17
$GC,19,-1.61,-390.0,865,1891,2030,4094,0.9,0.0,1,47,10.73,2.45,-8.38,0.000,18948,0.063,1.304,1837,1041,2959,2959,4095,0,0,0,0,0,0,25.93,24.84,25.96,10.30,49.01
$GC,126,-1.61,-390.0,1836,1040,2960,4095,4.3,-11.8,19,132,0.00,2.15,0.00,0.000,1030,0.000,0.028,1837,1911,2961,2961,4095,0,0,0,0,0,0,25.97,25.90,25.99,10.50,48.22
$GC,163,-1.61,-390.0,1836,1912,2961,4095,8.9,-12.5,25,168,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1912,2961,2961,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.50,47.95
$GC,199,-1.61,-390.0,1836,1912,2962,4095,13.5,-12.3,31,205,0.00,2.25,0.00,0.000,260,0.000,0.056,1837,2756,2962,2962,4094,0,0,0,0,0,0,26.22,25.91,26.24,10.50,47.87
$GC,242,-1.61,-390.0,1836,2756,2963,4094,19.2,-12.9,38,248,0.00,2.15,0.00,0.000,1030,0.000,0.029,1837,1906,2963,2963,4095,0,0,0,0,0,0,26.08,26.00,26.10,10.50,48.07
$GC,279,-1.61,-390.0,1836,1906,2964,4095,23.4,-10.9,44,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2964,2964,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.48,47.71
$GC,315,-1.61,-390.0,1836,1906,2964,4095,27.2,-10.6,50,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2964,2964,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.46,47.44
$GC,351,-1.61,-390.0,1836,1906,2965,4094,31.2,-11.0,56,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2966,2966,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.44,46.57
$GC,387,-1.61,-390.0,1836,1906,2966,4094,35.4,-11.3,62,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2966,2966,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.41,46.22
$GC,423,-1.61,-390.0,1836,1906,2967,4095,39.3,-10.6,68,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2967,2967,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.40,45.70
$GC,459,-1.61,-390.0,1836,1906,2967,4094,43.2,-10.9,74,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2968,2968,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.38,44.92
$GC,495,-1.61,-390.0,1837,1906,2968,4094,47.2,-11.0,80,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2969,2969,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.38,44.99
$GC,531,-1.61,-390.0,1836,1906,2969,4094,51.4,-11.4,86,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2968,2968,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.38,44.01
$GC,568,-1.61,-390.0,1837,1906,2970,4095,55.5,-11.2,92,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2970,2970,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,43.89
$GC,603,-1.61,-390.0,1836,1906,2971,4094,59.6,-11.8,98,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,1906,2970,2970,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,44.09
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,619,-0.45,0.0,1837,2043,2971,4095,61.0,-11.7,100,652,3.97,0.00,22.98,1.274,10244,0.057,0.000,2205,2043,2499,2499,4094,0,0,0,0,0,0,26.21,25.25,24.58,10.36,43.69
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,655,1.61,390.0,2204,2043,2499,4094,63.1,0.0,106,688,6.95,0.00,22.52,1.249,11270,0.035,0.000,2862,2044,2045,2045,4094,0,0,0,0,0,0,25.69,25.85,24.14,10.26,43.93
$GC,719,1.61,390.0,2862,2043,2044,4094,58.4,10.5,117,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2044,2044,4095,0,0,0,0,0,0,25.58,25.60,25.59,10.16,42.63
$GC,755,1.61,390.0,2861,2043,2043,4095,54.1,12.0,123,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2043,2043,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.15,43.50
$GC,791,1.61,390.0,2861,2043,2042,4094,49.7,11.9,129,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2043,2042,2042,4094,0,0,0,0,0,0,25.83,25.85,25.84,10.15,42.95
$GC,827,1.61,390.0,2861,2043,2040,4094,45.2,12.2,135,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2041,2041,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.14,43.22
$GC,864,1.61,390.0,2861,2043,2040,4094,40.8,12.1,141,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2040,2040,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.14,43.42
$GC,899,1.61,390.0,2862,2044,2039,4094,36.4,12.1,147,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2039,2039,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.13,44.21
$GC,936,1.61,390.0,2861,2043,2038,4094,32.1,12.1,153,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2038,2038,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.13,44.72
$GC,972,1.61,390.0,2862,2044,2038,4094,28.1,11.1,159,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2037,2037,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.14,44.64
$GC,1008,1.61,390.0,2861,2043,2037,4094,24.3,10.9,165,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2036,2036,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.15,44.95
$GC,1044,1.61,390.0,2861,2044,2036,4094,20.2,11.8,171,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2035,2035,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.17,45.66
$GC,1080,1.61,390.0,2862,2044,2035,4095,16.3,10.6,177,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2034,2034,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.20,47.71
$GC,1116,1.61,390.0,2861,2044,2034,4094,12.6,10.4,183,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2034,2034,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.21,48.77
$GC,1152,1.61,390.0,2861,2045,2033,4094,8.8,10.3,189,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2044,2033,2033,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.22,49.17
$GC,1188,1.61,390.0,2861,2045,2032,4094,5.3,9.6,195,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2045,2031,2031,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.22,49.05
$STATE,1223,end climb,FINISH_DEPTH_REACHED
$STATE,1223,begin subsurface finish
$FINISH1,1.8,1.025600,0
$GC,1228,0.00,0.0,2862,2045,2031,4094,1.8,9.9,201,1245,5.60,2.50,-3.83,0.000,20996,0.082,1.305,2369,1153,2508,2508,4094,0,0,0,0,0,0,26.05,25.01,26.09,10.23,49.37
$FINISH2,0.3
$STATE,1246,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1246,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,310717,073454
$TT8_MAMPS,0.025466,0.075649
$HUMID,49.96
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,24.14,6.481
$10V_AH,10.56,8.193
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,34.900,11.775,45.500,0.000,0.000,25.694,18.081,250.899,0.000,0.000,18.010,451.347,350.764,162.385,617.723,90.962,33.455,398.861,0.000,305.633,0.000,0.543,0.000
$DEVICE_MAMPS,112.455,1305.090,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329456
$DATA_FILE_SIZE,14208,204
$CAP_FILE_SIZE,41001,0
$CFSIZE,1024409600,1006469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310717,085439,5947.109,-17123.578,5,0.8,16,8.2,0.0,38.5,10,4.8